www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\itorque.m
%ITORQUE Compute the manipulator inertia torque % % TAUI = ITORQUE(ROBOT, Q, QDD) % % Returns the n-element inertia torque vector at the specified pose and % acceleration, that is, % TAUI = INERTIA(Q)*QDD % % ROBOT describes the manipulator dynamics and kinematics. % If Q and QDD are row vectors, the result is a row vector of joint torques. % If Q and QDD are matrices, each row is interpretted as a joint state % vector, and the result is a matrix each row being the corresponding joint % torques. % % If ROBOT contains non-zero motor inertia then this will included in the % result. % % See also: RNE, CORIOLIS, INERTIA, GRAVLOAD. % Copyright (C) 1993-2008, by Peter I. Corke % % This file is part of The Robotics Toolbox for Matlab (RTB). % % RTB is free software: you can redistribute it and/or modify % it under the terms of the GNU Lesser General Public License as published by % the Free Software Foundation, either version 3 of the License, or % (at your option) any later version. % % RTB is distributed in the hope that it will be useful, % but WITHOUT ANY WARRANTY; without even the implied warranty of % MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the % GNU Lesser General Public License for more details. % % You should have received a copy of the GNU Leser General Public License % along with RTB. If not, see <http://www.gnu.org/licenses/>. function it = itorque(robot, q, qdd) it = rne(robot, q, zeros(size(q)), qdd, [0;0;0]);